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   <div id="projectname">GSoC2011SfM
   &#160;<span id="projectnumber">0.1</span>
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   <div id="projectbrief">Google Summer of Code 2011: Structure from motion</div>
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<div class="title">D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/CameraPinhole.cpp</div>  </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#include &quot;CameraPinhole.h&quot;</span>
<a name="l00002"></a>00002 
<a name="l00003"></a>00003 <span class="keyword">using</span> std::vector;
<a name="l00004"></a>00004 <span class="keyword">using</span> cv::Mat;
<a name="l00005"></a>00005 <span class="keyword">using</span> cv::Vec2d;
<a name="l00006"></a>00006 <span class="keyword">using</span> cv::Vec3d;
<a name="l00007"></a>00007 <span class="keyword">using</span> cv::Vec4d;
<a name="l00008"></a>00008 <span class="keyword">using</span> cv::Range;
<a name="l00009"></a>00009 
<a name="l00010"></a>00010 <span class="keyword">namespace </span>OpencvSfM{
<a name="l00011"></a>00011 
<a name="l00012"></a><a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#a7951c403bff3a75b6a2decdfa8b685bc">00012</a>   <a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#a7951c403bff3a75b6a2decdfa8b685bc">CameraPinhole::CameraPinhole</a>( cv::Mat intra_params<span class="comment">/*=Mat::eye( 3, 3, CV_64F )*/</span>,<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> wantedEstimation<span class="comment">/*=FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM*/</span> )
<a name="l00013"></a>00013   {
<a name="l00014"></a>00014     CV_DbgAssert( intra_params.rows==3 &amp;&amp; intra_params.cols==3 );
<a name="l00015"></a>00015 
<a name="l00016"></a>00016     intra_params.convertTo( this-&gt;<a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#ac60a2fb4ca15534d0b361628837f9286" title="store intra parameters( 3*3 matrix ). This matrix contains focal informations, principal point coordi...">intra_params_</a>,CV_64F );
<a name="l00017"></a>00017     this-&gt;<a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#ad6bf92278db0c35e220accd087a05701" title="This is the inverse transformation of intra_params_. Used to speed up calculus...">inv_intra_params_</a> = intra_params.inv( );
<a name="l00018"></a>00018     this-&gt;<a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#a024b01688fee19c5c2d592f4060d6063">estimation_needed_</a> = wantedEstimation;
<a name="l00019"></a>00019   }
<a name="l00020"></a>00020 
<a name="l00021"></a><a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#a942058d75d7c48a65df9a3386f5a6586">00021</a>   <a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#a7951c403bff3a75b6a2decdfa8b685bc">CameraPinhole::CameraPinhole</a>( <span class="keyword">const</span> std::vector&lt; std::vector&lt; cv::Point3f &gt; &gt;&amp; objectPoints,
<a name="l00022"></a>00022     <span class="keyword">const</span> std::vector&lt; std::vector&lt;cv::Point2f &gt; &gt;&amp; imagePoints,
<a name="l00023"></a>00023     cv::Size imageSize, <span class="keywordtype">double</span> aspectRatio<span class="comment">/*=1.*/</span>,<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> wantedEstimation )
<a name="l00024"></a>00024   {
<a name="l00025"></a>00025     Mat intra=initCameraMatrix2D( objectPoints,imagePoints,imageSize,aspectRatio );
<a name="l00026"></a>00026     <span class="comment">//to be sure that newParams has correct type:</span>
<a name="l00027"></a>00027     intra.convertTo( this-&gt;<a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#ac60a2fb4ca15534d0b361628837f9286" title="store intra parameters( 3*3 matrix ). This matrix contains focal informations, principal point coordi...">intra_params_</a>,CV_64F );
<a name="l00028"></a>00028     this-&gt;<a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#ad6bf92278db0c35e220accd087a05701" title="This is the inverse transformation of intra_params_. Used to speed up calculus...">inv_intra_params_</a> = <a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#ac60a2fb4ca15534d0b361628837f9286" title="store intra parameters( 3*3 matrix ). This matrix contains focal informations, principal point coordi...">intra_params_</a>.inv( );
<a name="l00029"></a>00029     this-&gt;<a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#a024b01688fee19c5c2d592f4060d6063">estimation_needed_</a> = wantedEstimation;
<a name="l00030"></a>00030   }
<a name="l00031"></a>00031   CameraPinhole::~CameraPinhole( )
<a name="l00032"></a>00032   {
<a name="l00033"></a>00033     <span class="comment">//TODO</span>
<a name="l00034"></a>00034   }
<a name="l00035"></a>00035 
<a name="l00036"></a><a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#aeecb985ac673ca4d8658ebdbca291dd0">00036</a>   <span class="keywordtype">void</span> <a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#aeecb985ac673ca4d8658ebdbca291dd0">CameraPinhole::updateIntrinsicMatrix</a>( cv::Mat newParams,
<a name="l00037"></a>00037     <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> intraValues<span class="comment">/*=FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM*/</span> )
<a name="l00038"></a>00038   {
<a name="l00039"></a>00039 
<a name="l00040"></a>00040     CV_DbgAssert( !newParams.empty( ) || ( newParams.rows==3 ) || ( newParams.cols==3 ) );
<a name="l00041"></a>00041     <span class="comment">//to be sure that newParams has correct type:</span>
<a name="l00042"></a>00042     Mat correctMat;
<a name="l00043"></a>00043     newParams.convertTo( correctMat,CV_64F );
<a name="l00044"></a>00044 
<a name="l00045"></a>00045     <span class="comment">//now we can access to element using double array:</span>
<a name="l00046"></a>00046     <span class="keywordtype">double</span>* ptrData=( <span class="keywordtype">double</span>* )correctMat.data;
<a name="l00047"></a>00047     <span class="keywordtype">double</span>* ptrIntraParam=( <span class="keywordtype">double</span>* )<a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#ac60a2fb4ca15534d0b361628837f9286" title="store intra parameters( 3*3 matrix ). This matrix contains focal informations, principal point coordi...">intra_params_</a>.data;
<a name="l00048"></a>00048 
<a name="l00049"></a>00049     <span class="comment">//first focal values:</span>
<a name="l00050"></a>00050     <span class="keywordflow">if</span>( intraValues&amp;FOCAL_PARAM )
<a name="l00051"></a>00051     {
<a name="l00052"></a>00052       ptrIntraParam[ 0 ]=ptrData[ 0 ];
<a name="l00053"></a>00053       ptrIntraParam[ 4 ]=ptrData[ 4 ];
<a name="l00054"></a>00054     }
<a name="l00055"></a>00055     <span class="comment">//skew param:</span>
<a name="l00056"></a>00056     <span class="keywordflow">if</span>( intraValues&amp;SKEW_PARAM )
<a name="l00057"></a>00057       ptrIntraParam[ 1 ]=ptrData[ 1 ];
<a name="l00058"></a>00058 
<a name="l00059"></a>00059     <span class="comment">//and principal point:</span>
<a name="l00060"></a>00060     <span class="keywordflow">if</span>( intraValues&amp;PRINCIPAL_POINT_PARAM )
<a name="l00061"></a>00061     {
<a name="l00062"></a>00062       ptrIntraParam[ 2 ]=ptrData[ 2 ];
<a name="l00063"></a>00063       ptrIntraParam[ 5 ]=ptrData[ 5 ];
<a name="l00064"></a>00064     }
<a name="l00065"></a>00065   }
<a name="l00066"></a>00066 
<a name="l00067"></a><a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#a0eb602c19f646a074e95e81cdc5f02bb">00067</a>   vector&lt;Vec4d&gt; <a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#a0eb602c19f646a074e95e81cdc5f02bb">CameraPinhole::convertFromImageTo3Dray</a>( std::vector&lt; cv::Vec3d &gt; points )
<a name="l00068"></a>00068   {
<a name="l00069"></a>00069     <span class="comment">//TODO</span>
<a name="l00070"></a>00070     <span class="keywordflow">return</span> vector&lt;Vec4d&gt;( );
<a name="l00071"></a>00071   }
<a name="l00072"></a>00072 
<a name="l00073"></a><a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#a7b87b0fe8e9fe28a02642c3ef0159f69">00073</a>   vector&lt;Vec2d&gt; <a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#a7b87b0fe8e9fe28a02642c3ef0159f69">CameraPinhole::pixelToNormImageCoordinates</a>( std::vector&lt; cv::Vec2d &gt; points )<span class="keyword"> const</span>
<a name="l00074"></a>00074 <span class="keyword">  </span>{
<a name="l00075"></a>00075     vector&lt;Vec2d&gt; newCoordinates;
<a name="l00076"></a>00076     <span class="keywordtype">double</span>* ptrIntraParam=( <span class="keywordtype">double</span>* )<a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#ad6bf92278db0c35e220accd087a05701" title="This is the inverse transformation of intra_params_. Used to speed up calculus...">inv_intra_params_</a>.data;
<a name="l00077"></a>00077     <span class="comment">//for each 2D point, use inv_intra to compute 2D point:</span>
<a name="l00078"></a>00078     vector&lt;Vec2d&gt;::iterator point=points.begin( );
<a name="l00079"></a>00079     <span class="keywordflow">while</span>( point!=points.end( ) )
<a name="l00080"></a>00080     {
<a name="l00082"></a>00082       <span class="comment">//Can be done using matrix multiplication like this:</span>
<a name="l00084"></a>00084 <span class="comment"></span>      <span class="comment">/*</span>
<a name="l00085"></a>00085 <span class="comment">      Vec3d pointNorm( (*point )[ 0 ],( *point )[ 1 ],1 );</span>
<a name="l00086"></a>00086 <span class="comment">      Mat pointNormImageCoordinate=inv_intra_params_ * Mat( pointNorm );</span>
<a name="l00087"></a>00087 <span class="comment">      double * dataPointImageCoordinate = ( double * ) pointNormImageCoordinate.data;</span>
<a name="l00088"></a>00088 <span class="comment">      Vec2d point2D( dataPointImageCoordinate[ 0 ]/dataPointImageCoordinate[ 2 ],</span>
<a name="l00089"></a>00089 <span class="comment">        dataPointImageCoordinate[ 1 ]/dataPointImageCoordinate[ 2 ] );</span>
<a name="l00090"></a>00090 <span class="comment">      newCoordinates.push_back( point2D );</span>
<a name="l00091"></a>00091 <span class="comment">      */</span>
<a name="l00092"></a>00092 
<a name="l00094"></a>00094       <span class="comment">//But this is faster ( as intra matrix has only 5 values ) :</span>
<a name="l00095"></a>00095       newCoordinates.push_back( Vec2d( ptrIntraParam[ 0 ] * ( *point )[ 0 ] + ptrIntraParam[ 1 ] * ( *point )[ 1 ] + ptrIntraParam[ 2 ],
<a name="l00096"></a>00096         ptrIntraParam[ 4 ] * ( *point )[ 1 ] + ptrIntraParam[ 5 ] ));
<a name="l00097"></a>00097 
<a name="l00098"></a>00098       point++;
<a name="l00099"></a>00099     }
<a name="l00100"></a>00100     <span class="keywordflow">return</span> newCoordinates;
<a name="l00101"></a>00101   }
<a name="l00102"></a>00102 
<a name="l00103"></a><a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#a96954b793843fd8cf9a568b2c21f3a87">00103</a>   vector&lt;Vec2d&gt; <a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#a96954b793843fd8cf9a568b2c21f3a87">CameraPinhole::normImageToPixelCoordinates</a>( std::vector&lt; cv::Vec2d &gt; points )<span class="keyword"> const</span>
<a name="l00104"></a>00104 <span class="keyword">  </span>{
<a name="l00105"></a>00105     vector&lt;Vec2d&gt; newCoordinates;
<a name="l00106"></a>00106     <span class="comment">//for each 2D point, use intra params to compute 2D point:</span>
<a name="l00107"></a>00107     <span class="keywordtype">double</span>* ptrIntraParam=( <span class="keywordtype">double</span>* )<a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#ac60a2fb4ca15534d0b361628837f9286" title="store intra parameters( 3*3 matrix ). This matrix contains focal informations, principal point coordi...">intra_params_</a>.data;
<a name="l00108"></a>00108 
<a name="l00109"></a>00109     vector&lt;Vec2d&gt;::iterator point=points.begin( );
<a name="l00110"></a>00110     <span class="keywordflow">while</span>( point!=points.end( ) )
<a name="l00111"></a>00111     {
<a name="l00113"></a>00113       <span class="comment">//Same as pixelToNormImageCoordinates, faster than using matrix multiplication:</span>
<a name="l00114"></a>00114       newCoordinates.push_back( Vec2d( (ptrIntraParam[ 0 ] * ( *point )[ 0 ] + ptrIntraParam[ 1 ] * ( *point )[ 1 ] + ptrIntraParam[ 2 ]) / ptrIntraParam[ 8 ],
<a name="l00115"></a>00115         (ptrIntraParam[ 4 ] * ( *point )[ 1 ] + ptrIntraParam[ 5 ] ) / ptrIntraParam[ 8 ]));
<a name="l00116"></a>00116 
<a name="l00117"></a>00117       point++;
<a name="l00118"></a>00118     }
<a name="l00119"></a>00119     <span class="keywordflow">return</span> newCoordinates;
<a name="l00120"></a>00120   }
<a name="l00121"></a>00121 
<a name="l00122"></a><a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#a281b877e525be46fa33cffceed33267b">00122</a>   <span class="keywordtype">double</span> <a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#a281b877e525be46fa33cffceed33267b">CameraPinhole::getFocal</a>( )<span class="keyword"> const</span>
<a name="l00123"></a>00123 <span class="keyword">  </span>{
<a name="l00124"></a>00124     Mat x1 = Mat::zeros( 3, 1, CV_64F );
<a name="l00125"></a>00125     Mat x2 = Mat::zeros( 3, 1, CV_64F );
<a name="l00126"></a>00126     x1.at&lt;<span class="keywordtype">double</span>&gt;( 0,0 ) = <a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#ac60a2fb4ca15534d0b361628837f9286" title="store intra parameters( 3*3 matrix ). This matrix contains focal informations, principal point coordi...">intra_params_</a>.at&lt;<span class="keywordtype">double</span>&gt;( 0,2 );
<a name="l00127"></a>00127     x1.at&lt;<span class="keywordtype">double</span>&gt;( 1,0 ) = <a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#ac60a2fb4ca15534d0b361628837f9286" title="store intra parameters( 3*3 matrix ). This matrix contains focal informations, principal point coordi...">intra_params_</a>.at&lt;<span class="keywordtype">double</span>&gt;( 1,2 );
<a name="l00128"></a>00128     x1.at&lt;<span class="keywordtype">double</span>&gt;( 2,0 ) = 1.0;
<a name="l00129"></a>00129     x2.at&lt;<span class="keywordtype">double</span>&gt;( 0,0 ) = 0;
<a name="l00130"></a>00130     x2.at&lt;<span class="keywordtype">double</span>&gt;( 1,0 ) = 0;
<a name="l00131"></a>00131     x2.at&lt;<span class="keywordtype">double</span>&gt;( 2,0 ) = 1.0;
<a name="l00132"></a>00132     Mat omega = ( <a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#ac60a2fb4ca15534d0b361628837f9286" title="store intra parameters( 3*3 matrix ). This matrix contains focal informations, principal point coordi...">intra_params_</a> * <a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#ac60a2fb4ca15534d0b361628837f9286" title="store intra parameters( 3*3 matrix ). This matrix contains focal informations, principal point coordi...">intra_params_</a>.t( ) ).inv( );
<a name="l00133"></a>00133 
<a name="l00134"></a>00134     <span class="keywordtype">double</span> upDivision = ( (Mat )( x1.t( ) * omega * x2 )).at&lt;<span class="keywordtype">double</span>&gt;( 0,0 );
<a name="l00135"></a>00135     <span class="keywordtype">double</span> tmpDown1 = ( (Mat )( x1.t( ) * omega * x1 )).at&lt;<span class="keywordtype">double</span>&gt;( 0,0 );
<a name="l00136"></a>00136     <span class="keywordtype">double</span> tmpDown2 = ( (Mat )( x2.t( ) * omega * x2 )).at&lt;<span class="keywordtype">double</span>&gt;( 0,0 );
<a name="l00137"></a>00137     tmpDown1 = sqrt( tmpDown1 );
<a name="l00138"></a>00138     tmpDown2 = sqrt( tmpDown2 );
<a name="l00139"></a>00139 
<a name="l00140"></a>00140     <span class="keywordtype">double</span> cosAngle = upDivision / ( tmpDown1 * tmpDown2 );
<a name="l00141"></a>00141     <span class="keywordtype">double</span> angle = acos( cosAngle );
<a name="l00142"></a>00142 
<a name="l00143"></a>00143     <span class="comment">//instead of computing the focal using distance in pixels,</span>
<a name="l00144"></a>00144     <span class="comment">//we use the distance in camera&#39;s coordinates:</span>
<a name="l00145"></a>00145     <span class="keywordtype">double</span> origin_x = <a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#ad6bf92278db0c35e220accd087a05701" title="This is the inverse transformation of intra_params_. Used to speed up calculus...">inv_intra_params_</a>.at&lt;<span class="keywordtype">double</span>&gt;( 0,2 ),
<a name="l00146"></a>00146       origin_y = <a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#ad6bf92278db0c35e220accd087a05701" title="This is the inverse transformation of intra_params_. Used to speed up calculus...">inv_intra_params_</a>.at&lt;<span class="keywordtype">double</span>&gt;( 1,2 );
<a name="l00147"></a>00147     <span class="keywordtype">double</span> distance = sqrt (  origin_x * origin_x + 
<a name="l00148"></a>00148       origin_y * origin_y );
<a name="l00149"></a>00149 
<a name="l00150"></a>00150     <span class="keywordflow">return</span> origin_y / tan( angle );
<a name="l00151"></a>00151   }
<a name="l00152"></a>00152 
<a name="l00153"></a>00153 
<a name="l00154"></a><a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#a799aa0db013e8d1e8516157a4905c36b">00154</a>   cv::Ptr&lt;Camera&gt; <a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#a799aa0db013e8d1e8516157a4905c36b">CameraPinhole::read</a>( <span class="keyword">const</span> cv::FileNode&amp; node )
<a name="l00155"></a>00155   {
<a name="l00156"></a>00156     std::string myName=node.name( );
<a name="l00157"></a>00157     <span class="keywordflow">if</span>( myName != <span class="stringliteral">&quot;CameraPinhole&quot;</span> )
<a name="l00158"></a>00158     {
<a name="l00159"></a>00159       std::string error = <span class="stringliteral">&quot;CameraPinhole FileNode is not correct!\nExpected \&quot;CameraPinhole\&quot;, got &quot;</span>;
<a name="l00160"></a>00160       error += node.name();
<a name="l00161"></a>00161       CV_Error( CV_StsError, error.c_str() );
<a name="l00162"></a>00162     }
<a name="l00163"></a>00163 
<a name="l00164"></a>00164      Mat intra_params;
<a name="l00165"></a>00165      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> wantedEstimation;
<a name="l00166"></a>00166     <span class="comment">//load intra parameters:</span>
<a name="l00167"></a>00167     node[ <span class="stringliteral">&quot;intra_params_&quot;</span> ] &gt;&gt; intra_params;
<a name="l00168"></a>00168 
<a name="l00169"></a>00169     node[ <span class="stringliteral">&quot;estimation_needed_&quot;</span> ] &gt;&gt; wantedEstimation;
<a name="l00170"></a>00170 
<a name="l00171"></a>00171     <span class="keywordflow">return</span> cv::Ptr&lt;Camera&gt;( <span class="keyword">new</span> <a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#a7951c403bff3a75b6a2decdfa8b685bc">CameraPinhole</a>(intra_params, wantedEstimation) );
<a name="l00172"></a>00172   }
<a name="l00173"></a>00173 
<a name="l00174"></a><a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#a0442e53ee1ef49653873a863e61ba8e2">00174</a>   <span class="keywordtype">void</span> <a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#a0442e53ee1ef49653873a863e61ba8e2">CameraPinhole::write</a>( cv::FileStorage&amp; fs )<span class="keyword"> const</span>
<a name="l00175"></a>00175 <span class="keyword">  </span>{
<a name="l00176"></a>00176     fs &lt;&lt; <span class="stringliteral">&quot;CameraPinhole&quot;</span> &lt;&lt; <span class="stringliteral">&quot;{&quot;</span>;
<a name="l00177"></a>00177     fs &lt;&lt; <span class="stringliteral">&quot;intra_params_&quot;</span> &lt;&lt; this-&gt;<a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#ac60a2fb4ca15534d0b361628837f9286" title="store intra parameters( 3*3 matrix ). This matrix contains focal informations, principal point coordi...">intra_params_</a>;
<a name="l00178"></a>00178     fs &lt;&lt; <span class="stringliteral">&quot;estimation_needed_&quot;</span> &lt;&lt; this-&gt;<a class="code" href="class_opencv_sf_m_1_1_camera_pinhole.html#a024b01688fee19c5c2d592f4060d6063">estimation_needed_</a>;
<a name="l00179"></a>00179     fs &lt;&lt; <span class="stringliteral">&quot;}&quot;</span>;
<a name="l00180"></a>00180   }
<a name="l00181"></a>00181 
<a name="l00182"></a>00182 }
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